Scanned Digital Twin Correction Using Constraint Optimization
Various embodiments relate to a method, apparatus, and machine-readable storage medium including one or more of the following: creating keypaths into the digital twin that accesses a structural property stored in the digital twin; identifying a constraint for the physical structure associated with the keypaths, creating a cost function from the keypaths and the constraint; and optimizing a value for structural property using the cost function, where the structural property stored in the digital twin is corrected.
1 . A method for correcting a digital twin of a physical structure, the method comprising:
determining a state to be optimized;
accessing keypaths for the state in the digital twin;
constructing constraints using the keypaths;
constructing a cost function for the state using the constraints; and
optimizing a value for the state using the cost function, whereby the state stored in the digital twin is corrected.
2 . The method of claim 1 , wherein the keypaths access a plurality of like states from different parts of the digital twin,
whereby optimizing the value comprises optimizing respective values of the plurality of like states.
3 . The method of claim 2 , wherein the keypaths comprises a query for selecting the different parts of the digital twin from which the plurality of like states are accessed.
4 . The method of claim 1 , wherein the state is a structural property.
5 . The method of claim 4 , wherein the structural property is a vertex.
6 . The method of claim 4 , wherein the constraint specifies a penalty for almost parallel walls not being parallel.
7 . The method of claim 4 , wherein the constraint comprises a penalty for vertices in touching zones not being exactly aligned.
8 . A device for creating a digital twin of a physical structure, the device comprising:
a depth sensor;
a memory; and
a processor configured to:
obtain, from the depth sensor, a scan data descriptive of the physical structure,
convert the scan data to a digital twin,
store the digital twin in the memory,
determine a state to be optimized;
access keypaths for the state in the digital twin;
construct a constraint using the keypaths;
construct a cost function for the state using the constraint; and
optimize a value for the state using the cost function, whereby the state stored in the digital twin is corrected.
9 . The device of claim 8 , wherein the keypaths access a plurality of like states from different parts of the digital twin,
whereby optimizing the value comprises optimizing respective values of the plurality of like states.
10 . The device of claim 9 , wherein the state is a structural property.
11 . The device of claim 10 , wherein the structural property is a vertex.
12 . The device of claim 11 , wherein the constraint comprises a penalty for almost coincident vertices in walls that should be touching not being exactly aligned.
13 . The device of claim 11 , wherein the constraint specifies that a distance between interior zone angles not being exactly −120 degrees, −90 degrees, −60 degrees 60 degrees, 90 degrees or 120 degrees.
14 . The device of claim 8 , wherein there are more than one constraint, and wherein the more than one constraint are summed in the cost function.
15 . A non-transitory machine-readable storage medium encoded with instructions for execution by a processor for correcting a digital twin of a physical structure, the non-transitory machine-readable storage medium comprising:
instructions for determining a state to be optimized;
instructions for accessing keypaths for the state in the digital twin;
instructions for constructing a constraint using the keypaths;
instructions for constructing a cost function for the state using the constraint; and
instructions for optimizing a value for the state using the cost function, whereby the state stored in the digital twin is corrected.
16 . The non-transitory machine-readable storage medium of claim 15 , wherein the keypaths access a plurality of like states from different parts of the digital twin,
whereby optimizing the value comprises optimizing respective values of the plurality of like states.
17 . The non-transitory machine-readable storage medium of claim 16 , wherein the state is a structural property.
18 . The non-transitory machine-readable storage medium of claim 17 , wherein the structural property is a vertex.
19 . The non-transitory machine-readable storage medium of claim 18 , wherein the constraint comprises a penalty for almost coincident vertices in walls that should be touching not being exactly aligned.
20 . The non-transitory machine-readable storage medium of claim 18 , wherein the constraint specifies that a distance between interior zone angles not being exactly −120 degrees, −90 degrees, −60 degrees 60 degrees, 90 degrees or 120 degrees.